Cleanup new structure

.github/workflows/ci-coverage-build.yml

@@ -23,10 +23,13 @@ jobs:
           import-token: ${{ secrets.GITHUB_TOKEN }}
           # build all packages listed in the meta package
           package-name:
-            diffbot_description
-            ros2_control_demo_bringup
-            ros2_control_demo_hardware
-            rrbot_description
+            ros2_control_demo_example_1
+            ros2_control_demo_example_2
+            ros2_control_demo_example_3
+            ros2_control_demo_example_4
+            ros2_control_demo_example_5
+            ros2_control_demo_example_6
+            ros2_control_demo_example_8
 
           vcs-repo-file-url: |
             https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/ros2_control_demos-not-released.${{ env.ROS_DISTRO }}.repos?token=${{ secrets.GITHUB_TOKEN }}

.github/workflows/ci-ros-lint.yml

@@ -18,11 +18,13 @@ jobs:
         distribution: rolling
         linter: ${{ matrix.linter }}
         package-name:
-          diffbot_description
-          ros2_control_demo_bringup
-          ros2_control_demo_hardware
-          rrbot_description
-
+          ros2_control_demo_example_1
+          ros2_control_demo_example_2
+          ros2_control_demo_example_3
+          ros2_control_demo_example_4
+          ros2_control_demo_example_5
+          ros2_control_demo_example_6
+          ros2_control_demo_example_8
 
   ament_lint_100:
     name: ament_${{ matrix.linter }}
@@ -40,7 +42,10 @@ jobs:
         linter: cpplint
         arguments: "--linelength=100 --filter=-whitespace/newline"
         package-name:
-          diffbot_description
-          ros2_control_demo_bringup
-          ros2_control_demo_hardware
-          rrbot_description
+          ros2_control_demo_example_1
+          ros2_control_demo_example_2
+          ros2_control_demo_example_3
+          ros2_control_demo_example_4
+          ros2_control_demo_example_5
+          ros2_control_demo_example_6
+          ros2_control_demo_example_8

.github/workflows/reusable-ros-tooling-source-build.yml

@@ -32,10 +32,13 @@ jobs:
           target-ros2-distro: ${{ inputs.ros_distro }}
           # build all packages listed in the meta package
           package-name:
-            diffbot_description
-            ros2_control_demo_bringup
-            ros2_control_demo_hardware
-            rrbot_description
+            ros2_control_demo_example_1
+            ros2_control_demo_example_2
+            ros2_control_demo_example_3
+            ros2_control_demo_example_4
+            ros2_control_demo_example_5
+            ros2_control_demo_example_6
+            ros2_control_demo_example_8
 
           vcs-repo-file-url: |
             https://raw.githubusercontent.com/ros2/ros2/${{ inputs.ros_distro }}/ros2.repos

README.md

@@ -7,13 +7,6 @@ It consists of simple implementations that demonstrate different concepts.
 
 If you want to have rather step by step manual how to do things with `ros2_control` checkout [ros-control/roscon2022_workshop](https://github.com/ros-controls/roscon2022_workshop) repository.
 
-### Goals
-
-The repository has two other goals goals:
-
-1. Implements the example configuration described in the `ros-controls/roadmap` repository file [components_architecture_and_urdf_examples](https://github.com/ros-controls/roadmap/blob/master/design_drafts/components_architecture_and_urdf_examples.md).
-2. The repository is a validation environment for `ros2_control` concepts, which can only be tested during run-time (e.g., execution of controllers by the controller manager, communication between robot hardware and controllers).
-
 
 ## Getting started
 
@@ -44,79 +37,10 @@ The concepts in this package are demonstrated on the examples of *RRBot* and *Di
 Those two world-known imaginary robots are trivial simulations to demonstrate and test `ros2_control` concepts.
 
 
-## What you can Find in This Repository and Example Description
-
-This repository demonstrates the following `ros2_control` concepts:
-
-* Creating a `*HardwareInterface` for a System, Sensor, and Actuator.
-* Creating a robot description in the form of URDF files.
-* Loading the configuration and starting a robot using launch files.
-* Control of a differential mobile base *DiffBot*.
-* Control of two joints of *RRBot*.
-* Using simulated robots and starting `ros2_control` with Gazebo simulator.
-* Implementing a controller switching strategy for a robot.
-* Using joint limits and transmission concepts in `ros2_control`.
-
-
-### Example Overview
-
-Check README file inside each example folder for detailed description.
-
-
-##### Example 1
-
-*RRBot* - or ''Revolute-Revolute Manipulator Robot'' - a simple position controlled robot with one hardware interface.
-
-
-##### Example 2
-
-*DiffBot*, or ''Differential Mobile Robot'', is a simple mobile base with differential drive.
-The robot is basically a box moving according to differential drive kinematics.
-
-
-##### Example 3
-
-*RRBot* - or ''Revolute-Revolute Manipulator Robot'' with multiple interfaces
-
-
-##### Example 4: "Industrial robot with integrated sensor"
-*RRBot* - or ''Revolute-Revolute Manipulator Robot'' - a simple position controlled robot with an integrated sensor.
-
-
-##### Example 5: "Industrial Robots with externally connected sensor"
-*RRBot* - or ''Revolute-Revolute Manipulator Robot'' - a simple position controlled robot with an externally connected sensor.
-
-
-##### Example 6: "Modular Robots with separate communication to each actuator"
-
-The example shows how to implement robot hardware with separate communication to each actuator.
-
-
-##### Example 8: Using transmissions
-*RRBot* - or ''Revolute-Revolute Manipulator Robot'' - with an exposed transmission interface
-
-
-## Quick Hints
-
-These are some quick hints, especially for those coming from a ROS1 control background:
-
-* There are now three categories of hardware components: *Sensor*, *Actuator*, and *System*.
-  *Sensor* is for individual sensors; *Actuator* is for individual actuators; *System* is for any combination of multiple sensors/actuators.
-  You could think of a Sensor as read-only.
-  All components are used as plugins and therefore exported using `PLUGINLIB_EXPORT_CLASS` macro.
-* *ros(1)_control* only allowed three hardware interface types: position, velocity, and effort.
-  *ros2_control* allows you to create any interface type by defining a custom string. For example, you might define a `position_in_degrees` or a `temperature` interface.
-  The most common (position, velocity, acceleration, effort) are already defined as constants in hardware_interface/types/hardware_interface_type_values.hpp.
-* Joint names in <ros2_control> tags in the URDF must be compatible with the controller's configuration.
-* In ros2_control, all parameters for the driver are specified in the URDF.
-  The ros2_control framework uses the **<ros2_control>** tag in the URDF.
-* Joint names in <ros2_control> tags in the URDF must be compatible with the controller's configuration.
-
-
 ## Build status
 
-ROS2 Distro | Branch | Build status | Documentation
-:---------: | :----: | :----------: | :-----------:
+ROS 2 Distro | Branch | Build status | Documentation
+:----------: | :----: | :----------: | :-----------:
 **Rolling** | [`master`](https://github.com/ros-controls/ros2_control_demos/tree/rolling) | [![Rolling Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/rolling-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/rolling-binary-build.yml?branch=master) <br /> [![Rolling Semi-Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/rolling-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/rolling-semi-binary-build.yml?branch=master) <br /> [![Rolling Source Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/rolling-source-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/rolling-source-build.yml?branch=master) | [Documentation](https://control.ros.org) <br /> [API Reference](https://control.ros.org/rolling/api/)
 **Rolling - last Focal** | [`master`](https://github.com/ros-controls/ros2_control_demos/tree/rolling) | [![Rolling Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/rolling-binary-build-last-focal.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/rolling-binary-build-last-focal.yml?branch=master) <br /> [![Rolling Semi-Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/rolling-semi-binary-build-last-focal.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/rolling-semi-binary-build-last-focal.yml?branch=master) | [Documentation](https://control.ros.org) <br /> [API Reference](https://control.ros.org/rolling/api/)
 **Galactic** | [`galactic`](https://github.com/ros-controls/ros2_control_demos/tree/galactic) | [![Galactic Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/galactic-binary-build.yml/badge.svg?branch=galactic)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/galactic-binary-build.yml?branch=galactic) <br /> [![Galactic Semi-Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/galactic-semi-binary-build.yml/badge.svg?branch=galactic)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/galactic-semi-binary-build.yml?branch=galactic) <br /> [![Galactic Source Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/galactic-source-build.yml/badge.svg?branch=galactic)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/galactic-source-build.yml?branch=galactic) | [Documentation](https://control.ros.org) <br /> [API Reference](https://control.ros.org/rolling/api/)
@@ -145,7 +69,7 @@ git clone https://github.com/ros-controls/ros2_controllers
 git clone https://github.com/ros-controls/ros2_control_demos
 ```
 
-**NOTE**: `ros2_control` and `ros2_controllers` packages are released for foxy and can be installed using a package manager.
+**NOTE**: `ros2_control` and `ros2_controllers` packages are released and can be installed using a package manager.
 We provide officially released and maintained debian packages, which can easily be installed via aptitude.
 However, there might be cases in which not-yet released demos or features are only available through a source build in your own workspace.
 
@@ -160,111 +84,3 @@ However, there might be cases in which not-yet released demos or features are on
   ```
 
 * Do not forget to source `setup.bash` from the `install` folder!
-
-
-# Getting Started with demos
-
-This repository provides the following simple example robots: a 2 degrees of freedom manipulator - *RRBot* - and a mobile differential drive base - *DiffBot*.
-The first two examples demonstrate the minimal setup for those two robots to run.
-Later examples show more details about `ros2_control`-concepts and some more advanced use-cases.
-
-# Examples of ros2_control concepts
-
-Each of the described example cases from the [roadmap](https://github.com/ros-controls/roadmap/blob/master/design_drafts/components_architecture_and_urdf_examples.md) has its own launch and URDF file.
-
-
-### General notes about examples
-
-1. Each example is started with a single launch file which starts up the robot hardware, loads controller configurations and it also opens `RViz`.
-
-   The `RViz` setup can be recreated following these steps:
-
-   - The robot models can be visualized using `RobotModel` display using `/robot_description` topic.
-   - Or you can simply open the configuration from `rviz` folder in `rrbot_description` or `diffbot_description` package manually or directly by executing:
-   ```
-   rviz2 --display-config `ros2 pkg prefix rrbot_description`/share/rrbot_description/config/rrbot.rviz
-   ```
-
-1. To check that robot descriptions are working properly use following launch commands:
-   ```
-   ros2 launch rrbot_description view_robot.launch.py
-   ```
-   Optional arguments for specific example (the robot visualization will be the same for all examples):
-   ```
-   description_file:=rrbot_system_multi_interface.urdf.xacro
-   ```
-
-**NOTE**: Getting the following output in terminal is OK: `Warning: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist`.
-          This happens because `joint_state_publisher_gui` node need some time to start.
-
-
-1. To start an example open a terminal, source your ROS2-workspace and execute a launch file with:
-   ```
-   ros2 launch ros2_control_demo_bringup <example_launch_file>
-   ```
-
-1. To stop RViz2 from auto-start use `start_rviz:=false` launch file argument.
-
-1. To check if the hardware interface loaded properly, open another terminal and execute:
-   ```
-   ros2 control list_hardware_interfaces
-   ```
-   You should get something like:
-   ```
-   command interfaces
-         joint1/position [unclaimed]
-         joint2/position [unclaimed]
-   state interfaces
-         joint1/position
-         joint2/position
-   ```
-
-1. Check which controllers are running using:
-   ```
-   ros2 control list_controllers
-   ```
-   You should get something like:
-   ```
-   forward_position_controller[forward_command_controller/ForwardCommandController] unconfigured
-   joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster] active
-   ```
-
-1. Check [Controllers and moving hardware](#controllers-and-moving-hardware) section to move *RRBot*.
-
-
-*NOTE:* The examples reuse the same, configurable base-launch file [`rrbot_base.launch.py`](ros2_control_demo_bringup/launch/rrbot_base.launch.py).
-This also demonstrates how launch files are usually reused for different scenarios when working with `ros2_control`.
-
-
-### Example 1: "Industrial Robots with only one interface"
-
-Files:
-  - Launch file: [rrbot_system_position_only.launch.py](ros2_control_demo_bringup/launch/rrbot_system_position_only.launch.py)
-  - Controllers yaml: [rrbot_controllers.yaml](ros2_control_demo_bringup/config/rrbot_controllers.yaml)
-  - URDF:  [rrbot_system_position_only.urdf.xacro](ros2_control_demos/ros2_control_demo_description/rrbot_description/urdf/rrbot_system_position_only.urdf.xacro)
-  - `ros2_control` URDF tag: [rrbot_system_position_only.ros2_control.xacro](ros2_control_demo_description/rrbot_description/ros2_control/rrbot_system_position_only.ros2_control.xacro)
-
-Interfaces:
-  - Command interfaces:
-    - joint1/position
-    - joint2/position
-  - State interfaces:
-    - joint1/position
-    - joint2/position
-
-Available controllers:
-  - `joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster]`
-  - `forward_position_controller[forward_command_controller/ForwardCommandController]` (position)
-
-Moving the robot:
-  - see below description of `forward_position_controller`
-
-Available launch file options:
-  - `use_fake_hardware:=true` - start `FakeSystem` instead of hardware.
-    This is a simple simulation that mimics joint command to their states.
-    This is useful to test *ros2_control* integration and controllers without physical hardware.
-
-
-### Example 1-Sim: "Industrial Robots with only one interface" (Gazebo simulation)
-
-- **TBA**

doc/index.rst

@@ -0,0 +1,103 @@
+.. _ros2_control_demos:
+
+#################
+Demos
+#################
+
+This `GitHub Repository <https://github.com/ros-controls/ros2_control_demos>`_
+provides templates for the development of ros2_control-enabled robots and a simple simulations to demonstrate and prove ros2_control concepts.
+
+If you want to have a rather step by step manual how to do things with ``ros2_control`` checkout `ros-control/roscon2022_workshop <https://github.com/ros-controls/roscon2022_workshop>`_ repository.
+
+==========================================
+What you can find in this repository
+==========================================
+
+This repository demonstrates the following ``ros2_control`` concepts:
+
+* Creating a ``HardwareInterface`` for a System, Sensor, and Actuator.
+* Creating a robot description in the form of URDF files.
+* Loading the configuration and starting a robot using launch files.
+* Control of a differential mobile base *DiffBot*.
+* Control of two joints of *RRBot*.
+* Implementing a controller switching strategy for a robot.
+* Using joint limits and transmission concepts in ``ros2_control``.
+
+=====================
+Goals
+=====================
+
+The repository has two other goals:
+
+1. Implements the example configuration described in the ``ros-controls/roadmap`` repository file `components_architecture_and_urdf_examples <https://github.com/ros-controls/roadmap/blob/master/design_drafts/components_architecture_and_urdf_examples.md>`_.
+2. The repository is a validation environment for ``ros2_control`` concepts, which can only be tested during run-time (e.g., execution of controllers by the controller manager, communication between robot hardware and controllers).
+
+=====================
+Example Overview
+=====================
+
+* Example 1: RRBot
+
+   *RRBot* - or ''Revolute-Revolute Manipulator Robot'' - a simple position controlled robot with one hardware interface. This example also demonstrates the switching between different controllers.
+
+
+* Example 2: DiffBot
+
+   *DiffBot*, or ''Differential Mobile Robot'', is a simple mobile base with differential drive.
+   The robot is basically a box moving according to differential drive kinematics.
+
+
+* Example 3: "RRBot with multiple interfaces"
+
+   *RRBot* with multiple interfaces.
+
+
+* Example 4: "Industrial robot with integrated sensor"
+
+   *RRBot* with an integrated sensor.
+
+
+* Example 5: "Industrial Robots with externally connected sensor"
+
+   *RRBot* with an externally connected sensor.
+
+* Example 6: "Modular Robots with separate communication to each actuator"
+
+   The example shows how to implement robot hardware with separate communication to each actuator.
+
+
+* Example 8: Using transmissions
+
+   *RRBot* with an exposed transmission interface.
+
+=====================
+Quick Hints
+=====================
+
+These are some quick hints, especially for those coming from a ROS1 control background:
+
+* There are now three categories of hardware components: *Sensor*, *Actuator*, and *System*.
+  *Sensor* is for individual sensors; *Actuator* is for individual actuators; *System* is for any combination of multiple sensors/actuators.
+  You could think of a Sensor as read-only.
+  All components are used as plugins and therefore exported using ``PLUGINLIB_EXPORT_CLASS`` macro.
+* *ros(1)_control* only allowed three hardware interface types: position, velocity, and effort.
+  *ros2_control* allows you to create any interface type by defining a custom string. For example, you might define a ``position_in_degrees`` or a ``temperature`` interface.
+  The most common (position, velocity, acceleration, effort) are already defined as constants in hardware_interface/types/hardware_interface_type_values.hpp.
+* Joint names in <ros2_control> tags in the URDF must be compatible with the controller's configuration.
+* In ros2_control, all parameters for the driver are specified in the URDF.
+  The ros2_control framework uses the **<ros2_control>** tag in the URDF.
+* Joint names in <ros2_control> tags in the URDF must be compatible with the controller's configuration.
+
+=====================
+Examples
+=====================
+.. toctree::
+   :titlesonly:
+
+   Example 1: RRBot <../example_1/doc/userdoc.rst>
+   Example 2: DiffBot <../example_2/doc/userdoc.rst>
+   Example 3: RRBot with multiple interfaces <../example_3/doc/userdoc.rst>
+   Example 4: Industrial robot with integrated sensor <../example_4/doc/userdoc.rst>
+   Example 5: Industrial Robots with externally connected sensor <../example_5/doc/userdoc.rst>
+   Example 6: Modular Robots with separate communication to each actuator <../example_6/doc/userdoc.rst>
+   Example 8: Using transmissions <../example_8/doc/userdoc.rst>